| 摘要 |
<p>Positions and attitudes of rigid body-equivalent portions (10, 12, 14) of each leg body (2) on a leg plane passing through joints (9, 11, 13) of each leg body (2) of a two-legged walking mobile body (1) are grasped by detecting rotation angles of the joints (9, 11, 13). Also at the same time, acceleration at the reference point of the mobile body (1), or at the original point of a body coordination system (BC), a floor reaction force acting on each leg body (2), and the position of the point of application of the floor reaction force are grasped as a three-dimensional amount. Moment acting on the joints of each leg body (2) is estimated based on an inverse dynamic model by using a two-dimensional amount formed by projecting on the leg plane the acceleration, the floor reaction force, and the position of the point of application of the floor reaction force and on the positions and attitudes of the rigid body-equivalent portions (10, 12, 14) of each leg body (2) on the leg plane. Thus, consideration of three-dimensional motion of the two-legged walking mobile body can improve stability of the estimated value while securing estimation precision of joint moment in the bending and stretching direction.</p> |
